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        </div><article class="page single"><h1 class="single-title animate__animated animate__flipInX">EtherCAT从会到不会——概述（1）</h1><div class="post-meta">
            <div class="post-meta-line"><span class="post-author"><a href="/" title="Author" rel="author" class="author"><i class="fas fa-user-circle fa-fw" aria-hidden="true"></i>Jacob Chen</a></span>&nbsp;<span class="post-category">收录于 <a href="/categories/%E7%8E%B0%E5%9C%BA%E6%80%BB%E7%BA%BF/"><i class="far fa-folder fa-fw" aria-hidden="true"></i>现场总线</a></span></div>
            <div class="post-meta-line"><i class="far fa-calendar-alt fa-fw" aria-hidden="true"></i>&nbsp;<time datetime="2023-08-24">2023-08-24</time>&nbsp;<i class="fas fa-pencil-alt fa-fw" aria-hidden="true"></i>&nbsp;约 1772 字&nbsp;
                <i class="far fa-clock fa-fw" aria-hidden="true"></i>&nbsp;预计阅读 4 分钟&nbsp;</div>
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                <div class="details-content toc-content" id="toc-content-static"><nav id="TableOfContents">
  <ul>
    <li><a href="#什么是ethercat">什么是EtherCAT</a></li>
    <li><a href="#特点">特点</a></li>
    <li><a href="#系统架构及工作原理">系统架构及工作原理</a>
      <ul>
        <li><a href="#速度快on-the-fly飞速传输">速度快：On the Fly（飞速传输）</a></li>
        <li><a href="#同步好distributed-clocks分布式时钟">同步好：Distributed Clocks（分布式时钟）</a></li>
      </ul>
    </li>
    <li><a href="#ethercat总线的实现">EtherCAT总线的实现</a></li>
    <li><a href="#应用协议介绍">应用协议介绍</a>
      <ul>
        <li><a href="#coecanopen-over-ethercat">COE：<strong>CANopen Over EtherCAT</strong>。</a></li>
        <li><a href="#soeservo-drive-over-ethercat">SOE：Servo Drive Over EtherCAT</a></li>
        <li><a href="#eoeethernet-over-ethercat">EOE：Ethernet Over EtherCAT</a></li>
        <li><a href="#foefile-access-over-ethercat">FOE：File access over EtherCAT</a></li>
        <li><a href="#aoeads-over-ethercat">AOE：ADS over EtherCAT</a></li>
      </ul>
    </li>
  </ul>
</nav></div>
            </div><div class="content" id="content"><!-- # EtherCAT从会到不会——概述（1） -->
<blockquote>
<p>本来还想着起什么名字，但是对比起内容，名字什么的一点都不重要。<br/>
最近我又想起要写点什么东西防止最后什么都不剩下。那就从EtherCAT开始吧！</p>
</blockquote>
<h2 id="什么是ethercat">什么是EtherCAT</h2>
<p><del><em>老生常谈了</em></del></p>
<p><strong>EtherCAT</strong>，全称<strong>Ether</strong>net for <strong>C</strong>ontrol <strong>A</strong>utomation <strong>T</strong>echnology</p>
<p>OK，那它是一种基于以太网的自动化控制的技术。他老爸是德国倍福（Beckhoff）公司。</p>
<p>它是一种实时以太网总线，主要用于<strong>工业现场设备的控制</strong>，如IO、传感器、变频器、伺服等。</p>
<blockquote>
<p>问题： 那他跟标准的以太网有什么区别吗？<br/>
回答：<del>那当然有区别啦（高傲脸）</del>。有区别，但是它完全兼容标准的以太网（IEEE 802.3以太网标准）</p>
</blockquote>
<h2 id="特点">特点</h2>
<ul>
<li>速度快，超过100M/s。</li>
<li>传输数据量大，最大1498 byte。</li>
<li>传输距离长，设备之间最大长度为100m。</li>
<li>拓扑方式多样，线型、星型、树型、菊花链。</li>
<li>更新周期小，小于1ms。（市面上常见最小同步周期为125us）</li>
<li>同步性能好，小于1us。</li>
<li>连接设备数量多，最多65535。</li>
</ul>
<h2 id="系统架构及工作原理">系统架构及工作原理</h2>
<p><strong>系统架构</strong>：EtherCAT系统由一个<strong>主站</strong>和多个<strong>从站</strong>组成。</p>
<p><strong>工作原理</strong>：主站将所有给从站的数据打包，并放进一个封包中。该封包会按照连接顺序<strong>依次通过所有的从站</strong>，各从站会处理所经过的封包，最后<strong>再返回主站</strong>。这样就完成了一次通讯数据的交换，<strong>而每一个周期都会完成一次这样的通讯。</strong></p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT%e7%b3%bb%e7%bb%9f%e6%9e%84%e6%88%90.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT%e7%b3%bb%e7%bb%9f%e6%9e%84%e6%88%90.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT%e7%b3%bb%e7%bb%9f%e6%9e%84%e6%88%90.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT%e7%b3%bb%e7%bb%9f%e6%9e%84%e6%88%90.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT系统构成.png"
        title="EtherCAT系统" /></p>
<h3 id="速度快on-the-fly飞速传输">速度快：On the Fly（飞速传输）</h3>
<p>通过On the Fly（飞速传输）技术，有效得提高带宽的利用率。</p>
<ol>
<li>主站把所有从站需要通讯的数据全部打包成一个封包，然后再发出。所以封包的效率达到90%以上。</li>
<li>使用专用ESC（EtherCAT Slave Controller）硬件实现数据交换（纳秒级），带来超低的通讯延时。</li>
</ol>
<p>我们经常会用列车来形容这种通讯方式。每一个EtherCAT封包可以看作一个“车厢”，每个数据看作为&quot;乘客&quot;，列车按照一定的顺序行驶过各个“站台”（即从站）。当列车到站时，“乘客”就会自动上下“车厢”。列车经过了所有“站台”后就会返回“起始站”（即主站），此时就完成了一次数据通讯。</p>
<h3 id="同步好distributed-clocks分布式时钟">同步好：Distributed Clocks（分布式时钟）</h3>
<p>所谓的分布式时钟（DC）就是总线上找到一个参考时钟，然后测试出所有主从站直接的通讯延时，以保证系统的同步性。</p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC.png"
        title="DC分布式时钟" /></p>
<p>根据ETG（EtherCAT技术协会）的资料，在间隔300个节点的两个带分布式时钟的设备上，同时性约15ns。</p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%80%a7%e5%a5%bd.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%80%a7%e5%a5%bd.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%80%a7%e5%a5%bd.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC%e5%90%8c%e6%ad%a5%e6%80%a7%e5%a5%bd.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-DC同步性好.png"
        title="DC同时性" /></p>
<h2 id="ethercat总线的实现">EtherCAT总线的实现</h2>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/569a9251d0e19ef22839e5bf0105481340780ee4/blog/EtherCAT-%E5%8D%8F%E8%AE%AE%E6%A0%88.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/569a9251d0e19ef22839e5bf0105481340780ee4/blog/EtherCAT-%E5%8D%8F%E8%AE%AE%E6%A0%88.png, https://gitee.com/jacobcj/blog-pic/raw/569a9251d0e19ef22839e5bf0105481340780ee4/blog/EtherCAT-%E5%8D%8F%E8%AE%AE%E6%A0%88.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/569a9251d0e19ef22839e5bf0105481340780ee4/blog/EtherCAT-%E5%8D%8F%E8%AE%AE%E6%A0%88.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/569a9251d0e19ef22839e5bf0105481340780ee4/blog/EtherCAT-%E5%8D%8F%E8%AE%AE%E6%A0%88.png"
        title="EtherCAT总线" /></p>
<p>如图所示，EtherCAT总线主要实现了<strong>物理层、数据链路层、应用层</strong>三层。</p>
<p>接下来，解释一下。</p>
<p><strong>物理层</strong>：实现总线所需要的通讯硬件，如RJ45接口、Trafo（隔离变压器）、PHY（以太网芯片）等。</p>
<p><strong>数据链路层</strong>：定义了总线直接的设备如何通讯以及数据处理。即主站与从站ESC芯片通讯完成数据的交换。</p>
<p><strong>应用层</strong>：即可以用EtherCAT总线干什么事情。到这一层就是我们会听到的一些名词了。如：COE、SOE、EOE、FOE、AOE等。</p>
<h2 id="应用协议介绍">应用协议介绍</h2>
<h3 id="coecanopen-over-ethercat">COE：<strong>CANopen Over EtherCAT</strong>。</h3>
<p>顾名思义，CANopen协议在EtherCAT上的实现。如最常听到的SDO、PDO其实都是CANopen的概念，也就是对各类从站主要的数据交互均需要依赖该应用协议来完成，所以说COE是EtherCAT上最重要的应用协议。</p>
<ul>
<li><em>CANopen是基于CAN通讯的一个通讯协议，其最基本的就是CIA 301标准。控制驱动器的标准是CIA 402。</em></li>
</ul>
<h3 id="soeservo-drive-over-ethercat">SOE：Servo Drive Over EtherCAT</h3>
<p>SERCOS（IEC 61800-7-204标准）在EtherCAT上的实现。SERCOS是一种实时通讯的协议，主要用于运动控制。</p>
<h3 id="eoeethernet-over-ethercat">EOE：Ethernet Over EtherCAT</h3>
<p>标准以太网在EtherCAT上的实现。使用 EoE 协议，可以在EtherCAT上实现以太网数据的传输，即以太网数据帧通过EtherCAT数据封包进行传输。</p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-EOE.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-EOE.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-EOE.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-EOE.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-EOE.png"
        title="EoE" /></p>
<h3 id="foefile-access-over-ethercat">FOE：File access over EtherCAT</h3>
<p>FoE 是允许在EtherCAT网络中传输文件的简易通讯协议。可以使用该协议向从站设备上传或者下载文件。</p>
<h3 id="aoeads-over-ethercat">AOE：ADS over EtherCAT</h3>
<p>ADS over EtherCAT (AoE)是由EtherCAT规范定义的客户端-服务器邮箱协议，是对EtherCAT访问非周期性数据的一种补充。例如，可以使用ADS协议将各类网关（CANopen、IOLink、Profibus等）整合进EtherCAT网络中，使得其他设备也可以访问EtherCAT设备的数据。</p>
<p><img
        class="lazyload"
        src="/svg/loading.min.svg"
        data-src="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%ae%9e%e7%8e%b0.png"
        data-srcset="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%ae%9e%e7%8e%b0.png, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%ae%9e%e7%8e%b0.png 1.5x, https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-%e5%ae%9e%e7%8e%b0.png 2x"
        data-sizes="auto"
        alt="https://gitee.com/jacobcj/blog-pic/raw/master/blog/EtherCAT-实现.png"
        title="EtherCAT总线实现" /></p>
<p>参考链接：
<a href="https://www.ethercat.org.cn/cn/technology.html" target="_blank" rel="noopener noreffer ">EtherCAT官网 - 技术概述</a></p>
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